/*
 * File: J_la_T05_q3.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 23-Apr-2025 08:38:07
 */

/* Include Files */
#include "J_la_T05_q3.h"
#include <math.h>

/* Function Definitions */
/*
 * J_LA_T05_Q3
 *     U53 = J_LA_T05_Q3(IN1,IN2)
 *
 * Arguments    : const double in1[5]
 *                const double in2[5]
 *                double u53[16]
 * Return Type  : void
 */
void J_la_T05_q3(const double in1[5], const double in2[5], double u53[16])
{
  double t10;
  double t100;
  double t11;
  double t12;
  double t13;
  double t14;
  double t15;
  double t16;
  double t17;
  double t18;
  double t19;
  double t2;
  double t20;
  double t21;
  double t22;
  double t23;
  double t24;
  double t25;
  double t3;
  double t4;
  double t5;
  double t50;
  double t51;
  double t52;
  double t6;
  double t63;
  double t65;
  double t7;
  double t8;
  double t84;
  double t9;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     09-Apr-2025 18:11:46 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in2[2]);
  t5 = cos(in2[3]);
  t6 = cos(in2[4]);
  t7 = cos(in1[0]);
  t8 = cos(in1[1]);
  t9 = cos(in1[2]);
  t10 = cos(in1[3]);
  t11 = cos(in1[4]);
  t12 = sin(in2[0]);
  t13 = sin(in2[1]);
  t14 = sin(in2[2]);
  t15 = sin(in2[3]);
  t16 = sin(in2[4]);
  t17 = sin(in1[0]);
  t18 = sin(in1[1]);
  t19 = sin(in1[2]);
  t20 = sin(in1[3]);
  t21 = sin(in1[4]);
  t22 = t7 * t8;
  t23 = t7 * t18;
  t24 = t2 * t3;
  t25 = t3 * t12;
  t50 = t25 + t2 * t7 * t13;
  t51 = t23 + t3 * t8 * t17;
  t52 = t24 + -(t7 * t12 * t13);
  t7 = t22 + -(t3 * t17 * t18);
  t100 = t8 * t12;
  t63 = (t2 * t13 * t18 + t100 * t17) + t23 * t25;
  t84 = t2 * t8;
  t65 = (t84 * t13 + t22 * t25) + -(t12 * t17 * t18);
  t8 = (t84 * t17 + t23 * t24) + -(t12 * t13 * t18);
  t2 = (t100 * t13 + t2 * t17 * t18) + -(t22 * t24);
  t100 = t4 * t9;
  t25 = (-(t9 * t13 * t14 * t17) + t100 * t51) + t19 * t7;
  t23 = t4 * t19;
  t22 = (t13 * t14 * t17 * t19 + t9 * t7) + -(t23 * t51);
  t7 = t14 * t19;
  t24 = (t7 * t52 + t9 * t63) + t23 * t65;
  t3 = t9 * t14;
  t84 = (t3 * t50 + t19 * t8) + t100 * t2;
  t18 = (t7 * t50 + -(t9 * t8)) + t23 * t2;
  t8 = (t3 * t52 + -(t19 * t63)) + t100 * t65;
  t2 = t5 * t20;
  t12 = t10 * t25 + t2 * t22;
  t7 = t5 * t10;
  t25 = t20 * t25 + -(t7 * t22);
  t100 = t20 * t84 + t7 * t18;
  t3 = t7 * t24 + t20 * t8;
  t7 = t10 * t84 + -(t2 * t18);
  t84 = t6 * t21;
  t23 = t15 * t16 * t21;
  u53[0] = (-t11 * t12 + t84 * t25) + t23 * t22;
  u53[1] = (-t11 * t7 + t84 * t100) - t23 * t18;
  t8 = t2 * t24 - t10 * t8;
  u53[2] = (-t11 * t8 - t84 * t3) + t23 * t24;
  u53[3] = 0.0;
  t84 = t6 * t11;
  t23 = t11 * t15 * t16;
  u53[4] = (t21 * t12 + t84 * t25) + t23 * t22;
  u53[5] = (t21 * t7 + t84 * t100) - t23 * t18;
  u53[6] = (t21 * t8 - t84 * t3) + t23 * t24;
  u53[7] = 0.0;
  t84 = t6 * t15;
  t23 = t84 * t22;
  u53[8] = -t16 * t25 + t23;
  t8 = t84 * t18;
  u53[9] = -t16 * t100 - t8;
  t7 = t16 * t3;
  t84 *= t24;
  u53[10] = t7 + t84;
  u53[11] = 0.0;
  u53[12] = t16 * t25 * -0.1085 + t23 * 0.1085;
  u53[13] = t16 * t100 * -0.1085 - t8 * 0.1085;
  u53[14] = t7 * 0.1085 + t84 * 0.1085;
  u53[15] = 0.0;
}

/*
 * File trailer for J_la_T05_q3.c
 *
 * [EOF]
 */
